基于Vision Card的机器人舵机高精度数字控制技术

High Precision Digital Control Technology of Robot Actuator Based on Vision Card

摘要:

针对目前机器人舵机控制技术调控性能差，工作过程不稳定的问题，引入Vision Card研究了一种新的高精度数字控制技术。同时分析Vision Card工作原理和机器人舵机控制原理，将二者融合，从视觉角度完成舵机控制。分别针对直流电机、驱动器和反馈电位器进行控制，通过计算直流电机的传递函数、反馈电位器上的电压和总行程，得到脉冲宽度调制（PWM）的电脉冲，利用得到的电脉冲来控制舵机。为验证控制技术有效性，与传统的开环控制技术、PID控制技术和模糊PID控制技术进行实验对比，结果表明，研究的控制技术稳定性高，调控性能好，可以有效提高机器人舵机的工作效率，保障机器人舵机的工作质量。

Abstract:

Aiming at the problem of poor control performance and unstable working process of robot actuator control technology, a new high precision digital control technology is studied by introducing Vision Card. At the same time, the working principle of Vision Card and the control principle of robot rudder are analyzed, and the two principles are integrated to complete the control of the rudder from the visual angle. The DC motor, driver and feedback potentiometer are controlled respectively. By calculating the transfer function of the DC motor, the voltage on the feedback potentiometer and the total stroke, the pulse width modulation (PWM) electric pulse is obtained, and the obtained electric pulse is used to control the steering gear. In order to verify the effectiveness of the control technology, the experimental comparison with traditional open-loop control technology, PID control technology and fuzzy-PID control technology shows that the control technology studied has high stability and good control performance, which can effectively improve the efficiency of the robot rudder and ensure the quality of the robot rudder.